/*
 * Copyright 2021 <copyright holder> <email>
 * 
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * 
 *     http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "frame.h"

Frame::Frame(long id, double time_stamp, const SE3& pose, const cv::Mat& left, const cv::Mat& right):id_(id), time_stamp_(time_stamp), pose_(pose), left_image_(left), right_image_(right){}

Frame::Ptr Frame::CreateFrame()
{
    static long factory_id=0;
    Frame::Ptr new_frame(new Frame);
    new_frame->id_=factory_id++;
    return new_frame;
}

void Frame::SetKeyFrame()
{
    static long keyframe_factory_id=0;  //静态参数保持递增
    is_keyframe_=true;
    keyframe_id_=keyframe_factory_id++;
}



